/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "can.h"
#include "dma.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
#include "LEDControl.h"
#include "SEGGER_RTT.h"
#include "SEGGER_RTT_Conf.h"
#include "timer.h"
#include "Timer.h"
#include "FOC.h"
#include "Motor1ADC1PWM.h"
#include "SpeedPID.h"
#include "PositionPID.h"
void Motor1AngleCalibration(void)
{
	float angle=0;
	angle=angle+0;
	//1.enable motor
	Motor1SetEnable(1);
	//2.Rotate to A-axis
	SetMotor1ChannelAHighLeaveTime_us(70);
	SetMotor1ChannelBHighLeaveTime_us(40);
	SetMotor1ChannelCHighLeaveTime_us(40);
	HAL_Delay(500);
	//3.read the angel
	for (uint8_t i = 0; i < 10; i++) {
		angle = Motor1TLE5012BReadAngel();
		HAL_Delay(100);
		//printf("1:float%f\r\n",angle);
	}
	

	//4.disable motor
	SetMotor1ChannelAHighLeaveTime_us(0);
	SetMotor1ChannelBHighLeaveTime_us(0);
	SetMotor1ChannelCHighLeaveTime_us(0);
	Motor1SetEnable(0);
    while(1){
		HAL_Delay(10);
		Motor1SetEnable(0);
	}
}

uint8_t currentflag;
uint8_t speedflag;
uint8_t positionflag;
int16_t angle = 0;
void PerDriverMain_Loop(void)
{
	//Print debugging information
	RUN_BY_LIMIT_BLOCK(5,
		//Motor1FOCConfig_Printf();
		//Motor1SpeedPIDConfig_Printf();
		//Motor1PositionPIDConfig_Printf();

	)
	//Current loop debugging
//	RUN_BY_LIMIT_BLOCK(2000,
//		if (currentflag == 0) {
//			Motor1SetTarIDIQ(0.1,0.0);
//			currentflag = 1;
//		} else {
//			Motor1SetTarIDIQ(0.05,0.00);
//			currentflag = 0;
//		}
//	)
//	//Speed loop debugging
//	 RUN_BY_LIMIT_BLOCK(4000,
//	 	if (currentflag == 0) {
//	 		Motor1SpeedPIDConfigSetTar(10);
//	 		currentflag = 1;
//	 	} else {
//	 		Motor1SpeedPIDConfigSetTar(5);
//	 		currentflag = 0;
//	 	}
//	 )
//	//Position Ring Debugging
//	RUN_BY_LIMIT_BLOCK(2000,
//		if (currentflag == 0) {
//			Motor1PositionPIDConfigSetTar(90);
//			//Motor2PositionPIDConfigSetTar(90);
//			currentflag = 1;
//		} else {
//			Motor1PositionPIDConfigSetTar(60);
//			currentflag = 0;
//		}
//	)
	//Position Ring Application
	RUN_BY_LIMIT_BLOCK(1000,
		angle += 30;
		if(angle >= 360) {
			angle = 0;
		}
		Motor1PositionPIDConfigSetTar(180 - angle);
	)	
	LEDConfig_Loop();
	Motor1SpeedPIDConfig_Loop();
	Motor1PositionPIDConfig_Loop();
}
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_ADC2_Init();
  MX_SPI1_Init();
  MX_SPI2_Init();
  MX_CAN1_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  //MX_USART1_UART_Init();
  
  /* USER CODE BEGIN 2 */
	Motor1TIM1_Init();
	LEDConfig_Init();
	Motor1FOCConfig_Init();
	Motor1SpeedPIDConfig_Init();
	Motor1PositionPIDConfig_Init();
	Motor1AngleCalibration();//First OnceRun 
   
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
    /* USER CODE BEGIN 3 */
		PerDriverMain_Loop();
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
